def hosts_by_domain(self):
hosts = self.query("*")
domains = defaultdict(list)
for host in hosts:
name, _, domain = host.partition('_')
domains[dots(domain)].append(dots(host))
return domains
def test_triangulate_midpoint(self):
np.random.seed(0)
for num_frames in [2, 3, 10]:
for noise, decimals in [(0, 12), (1e-8, 8), (1e-3, 3), (1e-2, 1)]:
ps = np.random.randn(num_frames, 3)
rs = map(lie.SO3.exp, np.random.randn(num_frames, 3)*.1)
imu_to_camera = lie.SO3.exp(np.random.randn(3)*.1)
camera_matrix = np.array([[100, 0, 50],
[0, 100, 50],
[0, 0, 1]], dtype=float)
x = np.random.randn(3) + [0, 0, 10]
features = []
for i, (r, p) in enumerate(zip(rs, ps)):
z = utils.pr(utils.dots(camera_matrix, imu_to_camera, r, x - p))
if noise > 0:
z += np.random.randn(2) * noise
features.append(spline_socp.FeatureObservation(i, 0, z))
estimated = triangulation.triangulate_midpoint(features, rs, ps, imu_to_camera, camera_matrix)
numpy.testing.assert_array_almost_equal(estimated, x, decimal=decimals)
def hosts_for_domain(self, domain):
return map(
lambda x: sliced(x, 1),
self.hosts_by_domain()[dots(domain)]
)
def dots_(string):
return dots(string)
